The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the general-geometry 6-6 fully-parallel manipulator. The forty solutions that the problem at hand admits in the complex domain are found by determining the roots of a 40th-order univariate polynomial equation. Unlike the existing algorithm, the proposed one is suitable for implementation in a standard floating-point computation environment. A numerical example shows application of the new algorithm to a case study.
Forward Kinematics in Polynomial Form of the General Stewart Platform1
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Dec. 1998. Associate Editor: V. Kumar.
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Innocenti, C. (December 1, 1998). "Forward Kinematics in Polynomial Form of the General Stewart Platform." ASME. J. Mech. Des. June 2001; 123(2): 254–260. https://doi.org/10.1115/1.1348018
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